<?xml version="1.0" encoding="UTF-8"?>
<GenerateModel xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="generateMetaModel_Module.xsd">
  <PythonExport
      Father="PersistencePy"
      Name="TrajectoryPy"
      Twin="Trajectory"
      TwinPointer="Trajectory"
      Include="Mod/Robot/App/Trajectory.h"
      Namespace="Robot"
      FatherInclude="Base/PersistencePy.h"
      FatherNamespace="Base"
      Constructor="true"
      Delete="true">
    <Documentation>
      <Author Licence="LGPL" Name="Juergen Riegel" EMail="Juergen.Riegel@web.de" />
      <UserDocu>Trajectory class</UserDocu>
    </Documentation>
	  <Methode Name="insertWaypoints">
		  <Documentation>
			  <UserDocu>
				  adds one or a list of waypoint to the end of the trajectory
			  </UserDocu>
		  </Documentation>
	  </Methode>
	  <Methode Name="position">
		  <Documentation>
			  <UserDocu>
				  returns a Frame to a given time in the trajectory
			  </UserDocu>
		  </Documentation>
	  </Methode>
    <Methode Name="velocity">
      <Documentation>
        <UserDocu>
          returns the velocity to a given time in the trajectory
        </UserDocu>
      </Documentation>
    </Methode>
    <Methode Name="deleteLast">
      <Documentation>
        <UserDocu>
          deleteLast(n) - delete n waypoints at the end
          deleteLast()  - delete the last waypoint
        </UserDocu>
      </Documentation>
    </Methode>
    <Attribute Name="Duration" ReadOnly="true">
		  <Documentation>
			  <UserDocu>duration of the trajectory</UserDocu>
		  </Documentation>
		  <Parameter Name="Duration" Type="Float"/>
	  </Attribute>
	  <Attribute Name="Length" ReadOnly="true">
		  <Documentation>
			  <UserDocu>length of the trajectory</UserDocu>
		  </Documentation>
		  <Parameter Name="Length" Type="Float"/>
	  </Attribute>
	  <Attribute Name="Waypoints" ReadOnly="false">
		  <Documentation>
			  <UserDocu>waypoints of this trajectory</UserDocu>
		  </Documentation>
		  <Parameter Name="Waypoints" Type="List"/>
	  </Attribute>

  </PythonExport>
</GenerateModel>
